Skip to main content

安装carla并测试demo

中科大镜像源

参考博客

张聪明的CARLA专栏

ubuntu22.04安装carla-0.9.15

安装依赖​

  1. 安装miniconda 清华源
  2. 创建python3.7的conda环境
conda create -n carla python=3.10
conda activate carla
  1. 安装版本匹配的carla客户端
pip install carla==0.9.15

测试demo​

  1. 启动carla模拟器
cd carla
# 显卡不行，使用低渲染模式
./CarlaUE4.sh -prefernvidia -quality-level={Low,Epic}
  1. 运行demo
cd carla/PythonAPI/examples

python3 -m pip install -r requirements.txt # Support for Python2 is provided in the CARLA release packages

python3 manual_control.py

显示一个小车，通过wasd控制

安装carla ros bridge​

carla_ros

安装osqp 0.6.3和osqp-eigen0.8.0​

  1. 安装osqp 0.6.3
git clone --recursive -b release-0.6.3 https://github.com/oxfordcontrol/osqp.git
cd osqp
mkdir build && cd build
cmake ..
make 
sudo make install
  1. 测试安装是否成功
cd out
./osqp_demo
  1. 安装osqp-eigen0.8.0
git clone https://github.com/robotology/osqp-eigen.git
cd osqp-eigen
mkdir build && cd build
cmake ..
make 
sudo make install